5.5 Changing the Gain Selection Parameter
5-25
Spindle Axis
Operation
5.5.3
Sequence for Gain Selection in Speed Control Mode
A sequence example for gain selection in Speed Control Mode is provided below.
Step 1:
CMD = VELCTRL (3C hex)
SVCMD_IO.G-SEL = 1: Selects Gain 0, Gain 1, Gain 2, or Gain 3.
SVCMD_IO.SVMOD = 0: Spindle axis mode
VREF: Reference speed
ACCR: Acceleration rate
DECR: Deceleration rate
Subcommand
SUBCMD SVCMD_WR = 41 hex
NO = 12E: Speed Loop Gain (Pn12E)
SIZE = 2: 2 bytes
MODE = 0B hex: RAM area only
PARAMETER = XXXX: Write data
Execution of the process has been completed when RSUBCMD is SVPRM_WR (41 hex) and
SUB_STAT.SUBCMDRDY is 1.
Step 2:
CMD=VELCTRL (3C hex)
SVCMD_IO.G-SEL = 3: Selects Gain 3.
SVCMD_IO.SVMOD = 0: Spindle axis mode
VREF: Reference speed
ACCR: Acceleration rate
DECR: Deceleration rate
When the power supply is turned ON, an attachment tool may already be attached. Therefore, you must deter-
mine the gain to use based on the gear and attachment selection before the servo is turned ON.
